/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package pl.edu.agh.ros.node;

import java.util.HashSet;
import java.util.Set;

import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.node.DefaultNodeFactory;
import org.ros.node.Node;
import org.ros.node.NodeConfiguration;
import org.ros.node.NodeMain;

public class Listener implements NodeMain {

	private Node node;
	private Set<String> receivedMessages = new HashSet<String>();

	@Override
	public void main(NodeConfiguration configuration) {
		try {
			node = new DefaultNodeFactory().newNode("listener", configuration);
			final Log log = node.getLog();
			node.newSubscriber("chatter", "std_msgs/String", new MessageListener<org.ros.message.std_msgs.String>() {
				@Override
				public void onNewMessage(org.ros.message.std_msgs.String message) {
					log.info("I heard: \"" + message.data + "\"");
					getReceivedMessages().add(message.data);
				}
			});
		} catch (Exception e) {
			if (node != null) {
				node.getLog().fatal(e);
			} else {
				e.printStackTrace();
			}
		}
	}

	@Override
	public void shutdown() {
		node.shutdown();
	}

	public Set<String> getReceivedMessages() {
		return receivedMessages;
	}

}
